A three-stage linkage unfolding and transfer device for an inspection vehicle and its transfer method

Abstract

This invention proposes a three-stage linkage deployment and transfer device and method for a rover, belonging to the field of rover transfer technology. It solves the problems of existing rover transfer mechanisms being unable to reliably transfer the rover to the lunar surface under various operating conditions, lacking selective transfer capabilities, and failing to effectively separate the rover from the lander. It includes a release rope, a deployment rope, a first motor, a second motor, and a linkage assembly. The linkage assembly includes a first linkage rod, a second linkage rod, and a third linkage rod. The top end of the first linkage rod is installed at the lower end of the lander, and the tail end of the first linkage rod is connected to the top end of the second linkage rod. The tail end of the second linkage rod is connected to the top end of the third linkage rod. One end of the deployment rope is connected to motor M2, and the other end of the deployment rope is installed at the connection between the first and second linkage rods. One end of the release rope is connected to motor M1. It is mainly used for rover transfer.

Description

Technical Field

[0001] This invention belongs to the field of patrol vehicle transfer technology, and in particular relates to a three-stage linkage folding and unfolding transfer device for patrol vehicles and its transfer method. Background Technology

[0002] The transfer mechanism is a component used to transfer and release the rover carried by the lander to the surface of a planet, and it has important applications in the field of extraterrestrial object exploration. The transfer and release technology represented by the transfer mechanism is one of the key technologies in the entire technical system required for extraterrestrial object exploration missions, and it is a crucial link that determines the success or failure of the exploration mission.

[0003] Depending on the landing method and the mass of the rover, the transfer mechanism takes various forms. Taking the transfer of a lunar rover as an example, it requires that during the Earth-Moon transfer phase, the lunar orbit phase, and the powered descent phase, the lunar rover and the transfer mechanism be reliably pressed against the sidewall of the lander and be able to withstand lateral and longitudinal acceleration loads; after the lander safely lands on the lunar surface, the lunar rover is reliably transferred to the lunar surface and reliably detached under the action of the transfer mechanism. This places higher demands on the transfer mechanism. During the flight phase and before the lunar landing transfer, the lunar rover and the transfer mechanism need to be securely and reliably mounted on the lander. After the lander lands on the moon, the transfer mechanism and the lunar rover must be separated and unlocked from the lander. The transfer mechanism will then reliably transfer the lunar rover to the lunar surface. Meanwhile, the lander will experience various landing conditions such as tilting and pitching. Therefore, the transfer mechanism should be able to reliably transfer the lunar rover to the lunar surface under various landing conditions. The landing site of the lunar rover should have a certain range of options to avoid lunar craters and protrusions. After the lunar rover lands smoothly on the moon, it will detach from the transfer mechanism and be able to move freely on the lunar surface.

[0004] The requirements for other rovers are basically the same as those for lunar rovers, so a solution that can meet the current needs of planetary rover transfer is required. Summary of the Invention

[0005] In view of this, the present invention aims to propose a three-stage linkage folding and transfer device for a rover, in order to solve the problems that existing rover transfer mechanisms cannot reliably transfer the rover to the planetary surface under various working conditions, and cannot perform selective transfer or effectively separate the rover and the lander.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A three-stage linkage deployment and transfer device for a rover includes a release rope, a deployment rope, a first motor, a second motor, and a linkage rod assembly. The linkage rod assembly includes a first linkage rod, a second linkage rod, and a third linkage rod. The top end of the first linkage rod is installed at the lower end of the lander, and the tail end of the first linkage rod is connected to the top end of the second linkage rod. The tail end of the second linkage rod is connected to the top end of the third linkage rod. One end of the deployment rope is connected to the second motor, and the other end of the deployment rope is installed at the connection between the first and second linkage rods. One end of the release rope is connected to the first motor, and the other end of the release rope is connected to the rover. A rover release mechanism is provided at the connection between the release rope and the rover. The side of the release rope connected to the rover overlaps the tail end of the third linkage rod. Both the first motor and the second motor are installed at the upper end of the lander.

[0008] Furthermore, the rotating connection between the patrol device and the release rope is equipped with a damping hinge.

[0009] Furthermore, both the linkage assembly and the patrol device are mounted on the lander via a locking mechanism.

[0010] Furthermore, the locking mechanism includes a rope wheel, a cam, a slide rod, a limit pin, and a pull pin. The rope wheel is installed at the output end of the second motor, the cam is installed on the rope wheel, a slide rod is provided below the cam, a pull pin is connected to the bottom end of the slide rod, a limit pin is provided on the side end of the slide rod, the pull pin is set in a pin hole inside the lander, and the limit pin is set inside the lander by a spring.

[0011] Furthermore, the two ends of the second linkage are connected to the first linkage and the third linkage respectively through gear meshing. A fixing member is provided at the connection between the first linkage and the second linkage. Attitude control ropes are provided between the fixing member and the top end of the first linkage and between the fixing member and the tail end of the second linkage.

[0012] Furthermore, the patrol device is connected to the release rope via an anti-sway mechanism.

[0013] Furthermore, the anti-sway mechanism includes a suspension rod, a sleeve, and an inner tube. The sleeve is installed at the lower end of the suspension rod, the suspension rod is connected to the release rope, the inner tube is sleeved inside the sleeve, and the patrol device is connected to the inner tube.

[0014] Furthermore, the patrol device release mechanism includes a camera support rod, a lug, a limiting ball, and a pulley. The camera support rod is installed inside the lug, the limiting ball is located on the side of the lug away from the pulley, the release rope passes through the pulley and through the lug to connect with the limiting ball, the part of the release rope connected to the lug is located below the camera support rod, and the lug is installed on the upper surface of the patrol device.

[0015] Furthermore, the release mechanism of the patrol device includes a camera support rod, a lug, a limiting ball, a pulley, and a limiting hole. The camera support rod is installed inside the lug, the lug is installed on the upper surface of the patrol device, the upper surface of the patrol device is provided with a limiting hole, the limiting hole is located below the camera support rod, the limiting ball is located inside the limiting hole, and the slow-release rope is connected to the limiting ball through the pulley.

[0016] Furthermore, the release mechanism of the patrol device includes a camera support rod, a pull rod, a limiting rod, a limiting groove, a torsion spring, a sliding sleeve, and a thrust spring. The sliding sleeve is installed on the upper surface of the patrol device, the pull rod is slidably installed in the sliding sleeve, a torsion spring is installed on the side end of the pull rod, the arc-shaped protrusion at the bottom of the pull rod moves along the outer contour of the bottom of the camera support rod, the limiting rod is connected to the torsion spring, the head of the limiting rod is engaged in the limiting groove in the sliding sleeve, a thrust spring is installed at the bottom of the sliding sleeve, and the pull rod is connected to the release rope.

[0017] Furthermore, a transfer method for a three-stage linkage folding and transferring device for an inspection vehicle includes the following steps:

[0018] Step 1: The second motor operates, unlocking the rover and causing it to separate from the lander. At the same time, the linkage assembly is unlocked.

[0019] Step 2: The linkage assembly slowly opens under the action of gravity, and at the same time the rover rotates under the action of gravity, changing the rover's attitude from a parallel lander to a vertical lander;

[0020] Step 3: Under the influence of gravity, as the second motor releases the deployment rope, the linkage assembly gradually unfolds to find a suitable driving position for the patrol vehicle;

[0021] Step 4: After selecting a suitable location, the second motor stops releasing the deployment rope, allowing the connecting rod assembly to take shape, while the first motor continues to release the slow-release rope, causing the rover to begin falling under the influence of gravity until it reaches the planet's surface.

[0022] Step 5: After reaching the planet's surface, unlock the rover release mechanism to separate the rover from the transfer device.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1. The rover of the present invention is connected to the lander through a linkage assembly. After the lander lands on the planetary surface, it can avoid the planetary surface bumps and pits, and thus can selectively transfer the rover to a flat planetary surface. Therefore, the transfer device can be used to transfer the rover under various working conditions.

[0025] 2. The present invention is provided with a rover release mechanism, which releases the rover onto the planetary surface. Then, the linkage component can retract in the opposite direction, and the rover can move freely, thereby achieving effective separation of the rover from the transfer device.

[0026] 3. The linkage rods of the present invention are connected by gear meshing, which can not only ensure synchronous operation between rods, but also increase the transmission efficiency between linkage rods.

[0027] 4. The present invention is equipped with a damping hinge, which can prevent the rover from colliding with the lander and other objects on the rover during rotation.

[0028] 5. The connection between the patrol device and the suspension rod is a sleeve type. The gap fit between the sleeve and the inner tube can ensure the stability of the patrol device when it rotates. Attached Figure Description

[0029] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0030] Figure 1 This is a schematic diagram of the structure of a three-stage linkage unfolding and transfer device for an inspection vehicle according to the present invention;

[0031] Figure 2 A diagram illustrating the preparatory work for the transfer process;

[0032] Figure 3 This is a schematic diagram illustrating the attitude adjustment of the rover during the transfer process;

[0033] Figure 4 A diagram illustrating the process of finding a suitable location during the transfer;

[0034] Figure 5 A schematic diagram showing the maximum transfer range of the patrol vehicle;

[0035] Figure 6 This is a schematic diagram of the rover's release process;

[0036] Figure 7 This is a schematic diagram illustrating the effect of a +14° tilt on the device under operating conditions.

[0037] Figure 8 This is a schematic diagram illustrating the effect of a 0° tilt on the device under operating conditions.

[0038] Figure 9 This is a schematic diagram illustrating the effect of a -14° tilt on the device under operating conditions.

[0039] Figure 10 Schematic diagram of the impact of pitch on rover release Figure 1 ;

[0040] Figure 11 Schematic diagram of the impact of the rover's release in pitch mode Figure 2 ;

[0041] Figure 12 Diagram showing the rental of a vehicle for the transfer device;

[0042] Figure 13 Schematic diagram of the locking mechanism;

[0043] Figure 14 Illustration of anti-sway mechanism Figure 1 ;

[0044] Figure 15 Illustration of anti-sway mechanism Figure 2 ;

[0045] Figure 16 This is a schematic diagram of the linkage components;

[0046] Figure 17 A schematic diagram showing the connection between the first and second connecting rods;

[0047] Figure 18 , Figure 19 Schematic diagram of the rover release mechanism Figure 1 ;

[0048] Figure 20 , Figure 21 Schematic diagram of the rover release mechanism Figure 2 ;

[0049] Figures 22-25 Schematic diagram of the rover release mechanism Figure 3 .

[0050] 1-Lander; 2-Rover; 3-Rover release mechanism; 4-Damping hinge; 5-Release rope; 6-Deployment rope; 7-First motor; 8-Second motor; 9-Locking mechanism; 10-Suspension rod; 11-First linkage rod; 12-Second linkage rod; 13-Third linkage rod; 14-Rope pulley; 15-Cam; 16-Slide rod; 17-Limit pin; 18-Pull pin; 20-Attitude control rope; 21-Fixing component; 22-Camera support rod; 23-Help; 24-Limit ball; 25-Pulley; 26-Limit hole; 27-Pull rod; 28-Limit rod; 29-Limit groove; 30-Torsion spring; 31-Sliding sleeve; 32-Thrust spring; 33-Sleeve; 34-Inner tube. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.

[0052] See Figure 1-25 This embodiment describes a lunar rover operation as an example. The rover 2 is a lunar rover, and a three-stage linkage deployment and transfer device is used. This device includes a release rope 5, a deployment rope 6, a first motor 7, a second motor 8, and a linkage rod assembly. The linkage rod assembly includes a first linkage rod 11, a second linkage rod 12, and a third linkage rod 13. The top end of the first linkage rod 11 is installed at the lower end of the lander 1. The tail end of the first linkage rod 11 is connected to the top end of the second linkage rod 12, and the tail end of the second linkage rod 12 is connected to the top end of the third linkage rod 13. One end of the unfolding rope 6 is connected to the second motor 8, and the other end of the unfolding rope 6 is installed at the connection between the first linkage rod 11 and the second linkage rod 12. One end of the slow-release rope 5 is connected to the first motor 7, and the other end of the slow-release rope 5 is connected to the lunar rover. A rover release mechanism 3 is provided at the connection between the slow-release rope 5 and the lunar rover. The side of the slow-release rope 5 connected to the lunar rover is attached to the tail end of the third linkage rod 13. The first motor 7 and the second motor 8 are both installed on the upper end of the lander 1. In the initial state, the linkage rod assembly and the lunar rover are both installed on the lander 1 through the locking mechanism 9.

[0053] like Figure 4 As shown, during the transfer process, the second motor 8 operates, unlocking the locking mechanism 9 and separating the lunar rover from the lander 1. Simultaneously, the linkage assembly is in the deployed state, as... Figure 3 As shown, the linkage assembly slowly opens under the influence of gravity, while the lunar rover rotates around O1 under gravity, changing its attitude from parallel to lander 1 to vertical. Under the influence of gravity, as the second motor 8 releases the rope, Figure 4 As the θ angle gradually increases, the linkage assembly gradually unfolds, searching for a suitable driving position for the lunar rover in the reverse direction along the -Z line, such as... Figure 5As shown, when the linkage assembly changes from an N-shape to an I-shape, i.e., θ is 180°, the lunar rover reaches its farthest release point. After selecting a suitable position, the second motor 8 stops releasing the rope, allowing the linkage assembly to stabilize. The first motor 7 continues releasing the rope, causing the lunar rover to begin its descent under gravity until it reaches the lunar surface. Then, the lunar rover is released through the rover release mechanism 3. The first motor 7 and the second motor 8 drive the linkage assembly to retract in the opposite direction, allowing the lunar rover to move freely and completing its transfer. The rover is then released onto the lunar surface through the rover release mechanism. The linkage assembly can then retract in the opposite direction, allowing the rover to move freely and effectively separate from the transfer device. During the retraction, compression, and launch phase of the lander 1, the transfer device is always in a retracted and compressed state, and the transfer device must be installed within the lander 1's envelope area because it needs to connect with the lunar rover. Therefore, the lunar rover... The integrated design of the transfer device and the rover ensures that, in the retracted state, both the transfer device and the rover can withstand launch load conditions, and the fundamental frequency should not be coupled with the entire device, meeting the minimum fundamental frequency requirements in all directions. In the deployed state, the fundamental frequency requirements are also met. After the lander 1 lands, the rover is separated from the lander 1 by unlocking and locking mechanism 9. This function can also be achieved by actuating the pyrotechnic nut. Due to the small size of the rover and its limited obstacle-crossing ability, it is necessary to transfer the rover to a relatively flat lunar surface. The transfer device can select the rover's contact point within a certain range to avoid lunar surface protrusions and craters. Due to the uncertainty of the landing terrain, the lander 1 experiences various conditions such as tilting and pitching. The transfer device can still reliably transfer the rover to the lunar surface under various landing conditions, achieving selective transfer and effective separation of the rover from the transfer device after transfer. Therefore, the transfer device can be applied to transfer the rover under various conditions.

[0054] like Figure 7-11 As shown, after landing, the maximum tilt angle of lander 1 relative to the lunar surface is 6°, and the maximum lunar surface slope angle is 8°. Therefore, lander 1 has three extreme attitudes after landing: tilt +14°, tilt 0°, and tilt -14°. The linkage assembly opens under gravity. To ensure smooth deployment of the linkage assembly when lander 1 tilts 14°, its center of gravity is on the right side of the linkage assembly. At this time, the angle between the linkage assembly, the initial state of the lunar rover, and lander 1 is 15°. Under extreme conditions, the lunar rover's transfer range and interference are checked, such as... Figure 10 The diagram shows the rover tilted 14° to the right. Without considering slippage during landing, the rover can be pushed as far as 3148 mm from the lander. Figure 11 The diagram shows the rover tilted 14° to the left. Without considering slippage during landing, the rover can be delivered as far as 3699 mm from the lander.

[0055] Furthermore, a damping hinge 4 is provided at the rotating connection between the lunar rover and the release rope 5. When the lunar rover leaves the side wall of the lander 1, it will rotate about 90° around the damping hinge 4 under the action of gravity. The damping hinge 4 is provided to avoid the lunar rover from colliding with the lander 1 and other objects on the lander during the rotation. The rotation resistance is added at the turning point to make the rotation of the lunar rover complete smoothly.

[0056] Furthermore, the locking mechanism 9 includes a rope wheel 14, a cam 15, a slide rod 16, a limit pin 17, and a pull pin 18. The rope wheel 14 is installed at the output end of the second motor 8. The cam 15 is installed on the rope wheel 14. The slide rod 16 is provided below the cam 15. The bottom end of the slide rod 16 is connected to the pull pin 18. The side end of the slide rod 16 is provided with the limit pin 17. The pull pin 18 is located in a pin hole inside the lander 1. The limit pin 17 is located inside the lander 1 by a spring.

[0057] like Figure 13 As shown, the locking mechanism 9 is firstly designed to prevent the lunar rover and transfer device from colliding with the lander 1 and its onboard objects during the lander 1's ascent / descent. When the lunar rover's linkage assembly needs to operate, it must first be unlocked. Secondly, the motor 8, while releasing the release rope 5, drives the cam 15 to rotate. When the cam 15 rotates to... Figure 13 As shown, the slide bar 16 pulls the pull pin 18, causing it to be pulled out of the connecting pin hole of the lander 1, completing the unlocking action. Then the cam 15 continues to rotate, and the slide bar 16 is locked by the limit pin 2. Similarly, the unlocking action of the lunar rover and the lander 1 is the same.

[0058] Furthermore, such as Figure 16-17 As shown, the two ends of the second linkage rod 12 are connected to the first linkage rod 11 and the third linkage rod 13 respectively by gear meshing. A fixing member 21 is provided at the connection between the first linkage rod 11 and the second linkage rod 12. A posture control rope 20 is provided between the fixing member 21 and the top end of the first linkage rod 11 and between the fixing member and the tail end of the second linkage rod 12.

[0059] The linkages are connected by gear meshing, which ensures synchronous movement between the linkages and increases the transmission efficiency between them. When the first linkage 11, the second linkage 12, and the third linkage 13 are aligned in a straight line, the lunar rover reaches its farthest release end.

[0060] Furthermore, such as Figure 14-15As shown, the lunar rover is connected to the release rope 5 via an anti-sway mechanism. The anti-sway mechanism includes a suspension rod 10, a sleeve 33, and an inner tube 34. The sleeve 33 is installed at the lower end of the suspension rod 10, and the suspension rod 10 is connected to the release rope 5. The inner tube 34 is fitted inside the sleeve 33, and the lunar rover is connected to the inner tube 34. When the lunar rover is initially released, the release rope 5 is designed to prevent its flexibility from causing the lunar rover to collide with the lander 1 and other objects on the lander. Therefore, the connection between the lunar rover and the suspension rod 10 is a sleeve type. The gap between the sleeve 33 and the inner tube 34 is used to ensure the stability of the lunar rover during rotation.

[0061] Furthermore, such as Figure 18-19 As shown, the rover release mechanism 3 includes a camera support rod 22, a lug 23, a limiting ball 24, and a pulley 25. The camera support rod 22 is installed inside the lug 23. The limiting ball 24 is located on the side of the lug 23 away from the pulley 25. The release rope 5 passes through the pulley 25 and through the lug 23 and is connected to the limiting ball 24. The part of the release rope 5 connected to the lug 23 is located below the camera support rod 22. The lug 23 is installed on the upper surface of the lunar rover.

[0062] After the lunar rover is released to the lunar surface, it needs to be unlocked and detached from release tether 5, such as... Figure 18-19 As shown, the limiting ball 24 is connected to one end of the release rope 5. The release rope 5 passes around the camera support rod. Since the diameter of the limiting ball 24 is larger than the gap between the camera support rod 22 and the lunar rover, the release rope 5 suspends the rover during the lunar rover's descent. At this time, the lunar rover is released by the release rope 5 under the action of gravity. When the lunar rover is released to the lunar surface, the camera support rod 22 rotates around point O and opens. When the distance between the camera support rod 22 and the lunar rover is greater than the diameter of the limiting ball 24, the second motor 8 reverses and retracts the rope, and the limiting ball 24 slides out, completing the unlocking process.

[0063] Furthermore, such as Figure 20-21 As shown, the rover release mechanism 3 includes a camera support rod 22, a lug 23, a limiting ball 24, a pulley 25, and a limiting hole 26. The camera support rod 22 is installed inside the lug 23, and the lug 23 is installed on the upper surface of the lunar rover. The upper surface of the lunar rover is provided with a limiting hole 26, which is located below the camera support rod 22. The limiting ball 24 is located inside the limiting hole 26, and the release rope 5 is connected to the limiting ball 24 through the pulley 25.

[0064] The limiting ball 24 is connected to one end of the release rope 5, and the limiting ball 24 is pressed down into the limiting hole 26 by the camera support rod 22. Since the diameter of the limiting ball 24 is larger than the gap between the camera support rod 22 and the lunar rover, the release rope 5 suspends the rover during the lunar rover's descent. At this time, the lunar rover is released by the release rope 5 under the action of gravity. When the lunar rover is released to the lunar surface, the camera support rod 22 rotates around point O and opens. When the distance between the camera support rod 22 and the lunar rover is greater than the diameter of the limiting ball 24, the second motor 8 reverses and retracts the rope, and the limiting ball 24 slides out, completing the unlocking process.

[0065] Furthermore, such as Figure 22-25 As shown, the rover release mechanism 3 includes a camera support rod 22, a pull rod 27, a limiting rod 28, a limiting groove 29, a torsion spring 30, a sliding sleeve 31, and a thrust spring 32. The sliding sleeve 31 is installed on the upper surface of the lunar rover. The pull rod 27 is slidably installed in the sliding sleeve 31. A torsion spring 30 is installed on the side end of the pull rod 27. The arc-shaped protrusion at the bottom of the pull rod 27 moves along the outer contour of the bottom of the camera support rod 22. The limiting rod 28 is connected to the torsion spring 30. The head of the limiting rod 28 is engaged in the limiting groove 29 in the sliding sleeve 31. A thrust spring 32 is installed at the bottom of the sliding sleeve 31. The pull rod 27 is connected to the release rope 5.

[0066] like Figure 22 As shown, the release rope 5 is connected to the pull rod 27. Under the action of the torsion spring 30 and the thrust spring 32, and through the limiting rod 28, the pull rod 27 is locked in the limiting groove 29, connecting the lunar rover, the pull rod 27 and the release rope 5 into one unit. Then, the camera support rod 22 is rotated to provide a force F. Under the action of force F, the pull rod 27 slides downward and slides out of the locking slot. Under the action of the torsion spring 60, the limiting rod 28 deflects counterclockwise and moves out of the limiting groove 29. Then, under the thrust of the thrust spring 32 and the pulling force of the release rope 5, the pull rod 27 comes from the sliding sleeve 31, thus completing the unlocking. Then the lunar rover separates from the release rope 5.

[0067] Furthermore, a transfer method for a three-stage linkage folding and transferring device for an inspection vehicle includes the following steps:

[0068] Step 1: The second motor 8 is activated, unlocking the lunar rover and allowing it to separate from the lander 1. At the same time, the linkage assembly is unlocked.

[0069] Step 2: The linkage assembly slowly opens under the action of gravity, and at the same time the lunar rover rotates under the action of gravity, so that the lunar rover's attitude changes from parallel to lander 1 to vertical to lander 1;

[0070] Step 3: Under the influence of gravity, as the second motor 8 releases the deployment rope 6, the linkage assembly gradually unfolds to find a suitable driving position for the patrol vehicle;

[0071] Step 4: After selecting a suitable location, the second motor 8 stops releasing the deployment rope 6 to fix the connecting rod assembly, while the first motor 7 continues to release the slow-release rope 5, causing the lunar rover to begin falling under the influence of gravity until it reaches the planet's surface.

[0072] Step 5: After reaching the planet's surface, unlock the rover release mechanism 3 to separate the lunar rover from the transfer device.

[0073] The transfer of rovers to other planets is the same as the lunar transfer; simply replace rovers 2 with the rovers for the corresponding planet.

[0074] The embodiments of the present invention disclosed above are merely illustrative of the invention. These embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. A rover three-stage folding and unfolding transfer device, said transfer device is installed on a lander (1), characterized in that: It includes a release rope (5), a deployment rope (6), a first motor (7), a second motor (8), and a linkage assembly. The linkage assembly includes a first linkage (11), a second linkage (12), and a third linkage (13). The top end of the first linkage (11) is mounted on the lower end of the lander (1), and the tail end of the first linkage (11) is connected to the top end of the second linkage (12). The tail end of the second linkage (12) is connected to the top end of the third linkage (13). One end of the deployment rope (6) is connected to the second motor (8). The other end of the release rope (6) is installed at the connection between the first linkage rod (11) and the second linkage rod (12). One end of the release rope (5) is connected to the first motor (7), and the other end of the release rope (5) is connected to the rover (2). A rover release mechanism (3) is provided at the connection between the release rope (5) and the rover (2). The release rope (5) connected to the rover (2) is attached to the tail end of the third linkage rod (13). The first motor (7) and the second motor (8) are both installed on the upper end of the lander (1). In the initial state, the linkage rod assembly and The patrol vehicle (2) is mounted on the lander (1) via a locking mechanism (9). The locking mechanism (9) includes a rope wheel (14), a cam (15), a slide rod (16), a limit pin (17), and a pull pin (18). The rope wheel (14) is mounted on the output end of the second motor (8). The unfolding rope (6) is wound around the rope wheel (14). The cam (15) is mounted on the rope wheel (14). A slide rod (16) is provided below the cam (15). A pull pin (18) is connected to the bottom end of the slide rod (16). A side end of the slide rod (16) is provided with... The limiting pin (17) and the pull pin (18) are set in the pin hole inside the lander (1). The limiting pin (17) is set in the lander (1) by a spring. The two ends of the second linkage rod (12) are connected to the first linkage rod (11) and the third linkage rod (13) respectively by gear meshing. A fixing member (21) is provided at the connection between the first linkage rod (11) and the second linkage rod (12). Attitude control ropes (20) are provided between the fixing member (21) and the top end of the first linkage rod (11) and between the fixing member and the tail end of the second linkage rod (12).

2. The three-stage linkage folding and transferring device of a rover according to claim 1, characterized in that: The rotating connection between the patrol device (2) and the release rope (5) is provided with a damping hinge (4).

3. The three-stage linkage folding and transferring device of the rover according to claim 1, characterized in that: The patrol device (2) is connected to the release rope (5) through an anti-sway mechanism.

4. The three-stage linkage folding and transferring device of the rover according to claim 3, characterized in that: The anti-sway mechanism includes a suspension rod (10), a sleeve (33) and an inner tube (34). The sleeve (33) is installed at the lower end of the suspension rod (10). The suspension rod (10) is connected to the release rope (5). The inner tube (34) is sleeved inside the sleeve (33). The patrol device (2) is connected to the inner tube (34).

5. The three-stage linkage folding and transferring device of a rover according to claim 1, characterized in that: The patrol release mechanism (3) includes a camera support rod (22), a lug (23), a limiting ball (24), and a pulley (25). The camera support rod (22) is installed inside the lug (23). The limiting ball (24) is located on the side of the lug (23) away from the pulley (25). The release rope (5) passes through the pulley (25) and through the lug (23) to connect with the limiting ball (24). The part of the release rope (5) connected to the lug (23) is located below the camera support rod (22). The lug (23) is installed on the upper surface of the patrol device (2).

6. The three-stage linkage folding and transferring device of a rover according to claim 1, characterized in that: The release mechanism (3) of the patrol device includes a camera support rod (22), a lug (23), a limiting ball (24), a pulley (25), and a limiting hole (26). The camera support rod (22) is installed in the lug (23), and the lug (23) is installed on the upper surface of the patrol device (2). The upper surface of the patrol device (2) is provided with a limiting hole (26), which is located below the camera support rod (22). The limiting ball (24) is located in the limiting hole (26), and the release rope (5) is connected to the limiting ball (24) through the pulley (25).

7. The three-stage linkage folding and transferring device of a rover according to claim 1, characterized in that: The patrol device release mechanism (3) includes a camera support rod (22), a pull rod (27), and a limiting rod (28). The device includes a limiting groove (29), a torsion spring (30), a sliding sleeve (31), and a thrust spring (32). The sliding sleeve (31) is installed on the upper surface of the inspection device (2). The pull rod (27) is slidably installed in the sliding sleeve (31). The side end of the pull rod (27) is equipped with a torsion spring (30). The arc-shaped protrusion at the bottom of the pull rod (27) moves along the outer contour of the bottom of the camera support rod (22). The limiting rod (28) is connected to the torsion spring (30). The head of the limiting rod (28) is engaged in the limiting groove (29) in the sliding sleeve (31). The bottom of the sliding sleeve (31) is equipped with a thrust spring (32). The pull rod (27) is connected to the release rope (5).

8. A transfer method of the three-stage linkage folding and unfolding transfer device of the rover according to claim 1, characterized by: It includes the following steps: Step 1: The second motor (8) operates, unlocking the rover (2), causing the rover (2) to separate from the lander (1), and the linkage assembly is unlocked at the same time; Step 2: The linkage assembly opens slowly under the action of gravity, and at the same time the rover (2) rotates under the action of gravity, so that the attitude of the rover (2) changes from parallel lander (1) to vertical lander (1). Step 3: Under the action of gravity, as the second motor (8) releases the deployment rope (6), the linkage assembly gradually unfolds to find a suitable driving position for the patrol vehicle; Step 4: After selecting a suitable location, the second motor (8) stops releasing the deployment rope (6) to fix the connecting rod assembly, and the first motor (7) continues to release the slow release rope (5) to make the rover (2) fall under the action of gravity until it reaches the planet's surface; Step 5: After reaching the planet's surface, unlock the rover release mechanism (3) to separate the rover (2) from the transfer device.

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